A transformable land and air amphibious robot

Abstract

The present invention provides a transformable land-air amphibious robot comprising a fuselage and foldable arms equipped with propellers, motors, and wheels. The fuselage forms the center of the robot, with arms arranged on either side. The arms are connected by hinges, and the folding of the arms is controlled by a servo on the fuselage via connecting rods. The arms are symmetrical, with two motors equipped with propellers above and wheels below. Two of the front wheels are variable-diameter wheels. When the robot encounters obstacles on land, the wheels can be adjusted to overcome them. When the robot is airborne, the arms can be folded to allow the robot to maneuver mid-air to navigate narrow spaces. This improves the robot's obstacle avoidance in both land and air modes. Furthermore, the folding arms in air mode can also enable aerial grasping capabilities.

Description

Technical Field

[0001] The present invention relates to the technical field of amphibious robots, and in particular to a variable-type land-air amphibious robot. Background Art

[0002] In existing technologies, both multi-rotor aircraft and wheeled robots are widely used. Multi-rotor aircraft offer high maneuverability and a wide range of spatial motion, but suffer from high energy consumption, weak payload capacity, and short flight time. Wheeled robots, on the other hand, have high payload capacity but poor mobility and obstacle-crossing capabilities. Consequently, traditional single-domain robotic platforms are unable to effectively address the needs of operations in complex environments. Amphibious robots, capable of performing long-term missions on land while also flying over wide areas in the air, have garnered significant attention in recent years.

[0003] However, a review of existing amphibious land and air robots reveals that many are simply a combination of multi-rotor and wheeled robots (e.g., CN118683763A and CN117465708A). When encountering confined spaces (such as narrow doors and windows) in mid-air, they are forced to circumvent obstacles. Furthermore, while these robots combine the advantages of both types of robots, their ground-based obstacle-crossing capabilities are weak, forcing them to take off again to overcome even small obstacles. This process requires restarting the propeller motors and taking off again, which undoubtedly consumes more energy and generates more noise than wheeled modes, making it difficult for the robot to conduct close-up reconnaissance. For example, CN116461265A describes an amphibious reconnaissance robot with automatically rotating, folding arms. However, the wheels used in wheeled mode are conventional small wheels, resulting in poor obstacle-crossing performance. The system's obstacle-crossing function relies primarily on flight. A similar design is also mentioned in CN219988924U. Summary of the Invention

[0004] In response to the technical problems mentioned in the above background technology, a variable land-air amphibious robot is provided.

[0005] The technical means adopted in the present invention are as follows:

[0006] A transformable land-air amphibious robot, comprising:

[0007] Aircraft structure and aircraft drive;

[0008] The aircraft structure includes: a fuselage, an arm, a fixed wheel, a support, a steering gear swing arm, a connecting rod, a connecting rod II, a hinge, a small steering gear rotating disk, a variable diameter wheel rotating disk, a variable diameter wheel bushing, a variable diameter wheel, a variable diameter wheel upper rotating shaft, a variable diameter wheel lower rotating shaft and a variable diameter wheel swing arm;

[0009] The aircraft drive includes: a small motor, a propeller, a flight controller, a distribution board, a large motor, a large steering gear, a small steering gear, a lithium battery, a belt and a pulley;

[0010] The fuselage is supported by a plurality of pillars; the fuselage is connected to the arm via the hinge; the arm is rotated and folded up and down under the hinge;

[0011] The propeller is fastened to the small motor; the small motor is fixed to the upper end of the machine arm, and the fixed wheel and the variable diameter wheel are fixedly arranged in the middle of the interlayer of the machine arm;

[0012] The lithium battery is arranged at the upper end of the fuselage;

[0013] The flight controller and the power distribution board are arranged inside the fuselage, and the large motor is fixedly arranged in the middle position of the aircraft arm; the large motor is provided with the pulley; the pulley is covered with the belt; the large motor drives the four wheels to rotate through the flight controller;

[0014] A large steering gear arranged at the bottom of the fuselage is fixedly connected to the fuselage arm through the steering gear rocker, the connecting rod and the connecting rod II;

[0015] The small servo is fixedly arranged at the bottom of the machine arm. The small servo swings the variable diameter wheel rotating disk and the variable diameter wheel bushing provided on the variable diameter wheel through the small servo rotating disk, so that the variable diameter wheel upper rotating shaft, the variable diameter wheel lower rotating shaft and the scissor-fork-shaped variable diameter wheel swing arm on the variable diameter wheel body rotate as a whole.

[0016] Furthermore, during the rotation process, the scissor-fork-shaped variable diameter wheel swing arm will stretch out, so that the scissor-fork-shaped variable diameter wheel swing arm and the three connected large variable diameter wheels can achieve diameter change.

[0017] Furthermore, the fuselage is a rectangular parallelepiped surrounded by four large side panels.

[0018] Furthermore, the machine arm is a two-layer carbon fiber plate, and the two layers of carbon fiber plates are supported by multiple pillars.

[0019] Furthermore, the robot also has a camera and a GPS; the camera and the GPS are arranged at the upper end of the body.

[0020] Furthermore, the robot is also provided with four wheels; and pulleys are also provided on the wheels.

[0021] Furthermore, the large steering gear drives the arms to rotate and fold through the flight controller, thereby enabling the aircraft to fold or grab in the air.

[0022] Furthermore, during the rotation process, the robot controls the large steering gear at the bottom of the arm through the flight controller to complete the folding and unfolding of the robot's arm, drives the propeller through the small motor at the upper end of the arm to complete the flight, and completes the wheel diameter change of the variable diameter wheel (24) through the small steering gear (20) at the bottom of the arm (8).

[0023] Furthermore, when the aircraft is in the flying and land walking states with the variable diameter wheels folded, the arms rotate and fold during flight, and the flight controller controls the large servo at the bottom of the fuselage to drive the arms to swing, thereby realizing the grasping function.

[0024] Furthermore, when the aircraft is moving on land, the flight controller controls the large motor on the arm to drive the wheels to rotate through the belt and the pulley to move on the ground.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] The aircraft of the present invention has a fuselage in the middle and symmetrical arms on both sides. The fuselage and arms are connected by four hinges, and then connected to the arms by connecting rods through a servo on the fuselage. The servo is driven to realize the folding of the arms. The upper part of the arms is equipped with a motor and propeller, and the lower part is equipped with wheels, thus forming an amphibious robot that can convert between land and air modes. The arms can be folded in the air mode to pass through narrow spaces in the air.

[0027] The aircraft arms of the present invention are symmetrically arranged on the left and right sides. There are four motors and propellers on the symmetrical arms and four wheels on the bottom. The two front wheels are variable-diameter wheels. At the same time, the motors on the arms are linked through belts and pulleys. There is also a small steering gear under the two variable-diameter wheels for driving the wheels to change their diameters, thereby realizing variable-diameter walking of the aircraft on land. Compared with vehicles with ordinary wheels walking on land, variable-diameter wheels are more conducive to crossing uneven obstacles when walking on land.

[0028] The aircraft of the present invention has a simple structure and is easy to operate and control, and all functions can be realized by controlling one flight controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0030] Figure 1 It is a schematic diagram of the upper axle side of the overall structure of the robot of the present invention.

[0031] Figure 2 It is a schematic diagram of the lower axis side of the overall structure of the robot of the present invention.

[0032] Figure 3 This is a schematic diagram of the robot variable diameter wheel of the present invention when unfolded.

[0033] Figure 4 This is an axial side schematic diagram of the upper variable diameter wheel in the wheel-engaging state of the robot overall structure of the present invention.

[0034] Figure 5 This is an axonometric diagram of the robot of the present invention in a folded state.

[0035] Figure 6 This is an axonometric diagram of the robot of the present invention in the unfolded state.

[0036] Among them, 1 is the fuselage; 2 is the camera; 3 is the GPS; 4 is the lithium battery; 5 is the flight controller; 6 is the distribution board; 7 is the large motor; 8 is the aircraft arm; 9 is the belt; 10 is the pulley; 11 is the small motor; 12 is the propeller; 13 is the fixed wheel; 14 is the pillar; 15 is the large servo; 16 is the servo rocker; 17 is the connecting rod; 18 is the connecting rod II; 19 is the hinge; 20 is the small servo; 21 is the small servo rotating disk; 22 is the reducing wheel rotating disk; 23 is the reducing wheel bushing; 24 is the reducing wheel; 25 is the reducing wheel upper rotating shaft; 26 is the reducing wheel lower rotating shaft; 27 is the reducing wheel rocker. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0040] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0041] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0042] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0043] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0044] like Figure 1 ,and Figure 2 and Figure 3 The figure shows the overall layout of the aircraft structure, including: an aircraft structure part and an aircraft drive part.

[0045] The aircraft structure includes: a fuselage 1, an arm 8, a fixed wheel 13, a pillar 14, a steering gear rocker 16, a connecting rod 17, a connecting rod II18, a hinge 19, a small steering gear rotating disk 21, a reducing wheel rotating disk 22, a reducing wheel bushing 23, a reducing wheel 24, a reducing wheel upper rotating shaft 25, a reducing wheel lower rotating shaft 26 and a reducing wheel rocker 27.

[0046] The aircraft drive unit includes: a small motor 11, a propeller 12, a flight controller 5, a distribution board 6, a large motor 7, a large steering gear 15, a small steering gear 20, a lithium battery 4, a belt 9 and a pulley 10.

[0047] Among them, four propellers 12 are fastened to four small motors 11, and the four small motors 11 are installed and fixed on the upper ends of the left and right arms 8. Two fixed wheels 13 and two variable diameter wheels 24 are installed and fixed in the middle of the interlayer of the arm 8. The fuselage 1 is surrounded by four large side panels to form a cuboid and supported by several pillars 14. The fuselage 1 is connected to the left and right arms 8 through four hinges 19. At the same time, the left and right arms 8 can be rotated and folded up and down when the hinges 19 are connected. The arm 8 is composed of two layers of carbon fiber plates, which are supported by several pillars 14 in the middle. The lithium battery 4, GPS3 and camera 2 are installed on the upper end of the fuselage 1, the flight controller 5 and the distribution board 6 are installed inside the fuselage 1, and the two large motors 7 are respectively installed and fixed in the middle position of the left and right arms 8. There is a pulley 10 on the large motor 7, and a belt 9 is mounted on the pulley 10. There are also pulleys 10 on the four wheels. The large motor 7 can be The flight controller 5 drives the four-wheel wheels to rotate, so that the aircraft can walk on land. The two large steering gears 15 at the bottom of the fuselage 1 are fixedly connected to the left and right arms 8 through the steering gear rocker 16, the connecting rod 17 and the connecting rod II. The large steering gear 15 can drive the left and right arms 8 to rotate and fold through the flight controller 5, so as to realize the folding or grabbing function of the aircraft in the air. The two small steering gears 20 are respectively fixedly mounted on the bottom of the two arms 8. The small steering gear 20 swings the reducing wheel rotating disk 22 and the reducing wheel shaft sleeve 23 on the reducing wheel 24 through the small steering gear rotating disk 21, so that the reducing wheel upper rotating shaft 25, the reducing wheel lower rotating shaft 26 and the scissor-fork-shaped reducing wheel rocker 27 on the reducing wheel 24 body rotate as a whole. During the rotation process, the scissor-fork-shaped reducing wheel rocker 27 will stretch out, so that the scissor-fork-shaped reducing wheel rocker 27 and the three connected reducing wheels 24 can achieve diameter change. In this case, the main structure of the aircraft will control the two large servos 15 at the bottom of the left and right arms 8 through a flight controller 5 to complete the folding and unfolding of the left and right arms 8 of the aircraft, and the four small motors 11 at the upper ends of the left and right arms 8 will drive the four propellers 12 to complete the flight, and the small servos 20 at the bottom of the left and right arms 8 will complete the wheel diameter change of the variable wheel 24.

[0048] like Figure 4 and Figure 5 The figure shows the flight and land walking states of the aircraft with the variable diameter wheels folded. During flight, the left and right arms 8 can be rotated and folded, and the flight controller 5 can control the large servo 15 at the bottom of the fuselage 1 to drive the left and right arms 8 to swing to achieve the grasping function. During land walking, the flight controller 5 can control the large motor 7 on the arm 8 to drive the wheels to rotate through the belt 9 and pulley 10 to walk on the ground.

[0049] like Figure 6The figure shows the aircraft in motion on the ground after its wheels have changed diameter. When the flight controller 5 controls the small servo 20 to swing the rotating shaft of the variable diameter wheel 24, the scissor-shaped variable diameter wheel swing arm 27 causes the variable diameter wheel to unfold, achieving wheel diameter change. The aircraft can now use the variable diameter wheels to traverse obstacles encountered during ground travel. Through these steps, the aircraft achieves amphibious operations, obstacle crossing, mid-air folding, and mid-air grabbing capabilities.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A variable-type land and air amphibious robot, characterized in that: include: Aircraft structure and aircraft drive; The aircraft structure comprises: a fuselage (1), an arm (8), a fixed wheel (13), a support (14), a steering gear swing arm (16), a connecting rod (17), a connecting rod II (18), a hinge (19), a small steering gear rotating disk (21), a variable diameter wheel rotating disk (22), a variable diameter wheel bushing (23), a variable diameter wheel (24), a variable diameter wheel upper rotating shaft (25), a variable diameter wheel lower rotating shaft (26) and a variable diameter wheel swing arm (27); The aircraft drive comprises: a small motor (11), a propeller (12), a flight controller (5), a distribution board (6), a large motor (7), a large steering gear (15), a small steering gear (20), a lithium battery (4), a belt (9) and a pulley (10); The fuselage (1) is supported by a plurality of pillars (14); the fuselage (1) is connected to the arm (8) via the hinge (19); the arm (8) is rotated and folded up and down under the hinge (19); The propeller (12) is tightly connected to the small motor (11); the small motor (11) is fixed to the upper end of the machine arm (8); the fixed wheel (13) and the variable diameter wheel (24) are fixedly arranged in the middle of the interlayer of the machine arm (8); The lithium battery (4) is arranged at the upper end of the body (1); The flight controller (5) and the power distribution board (6) are arranged inside the fuselage (1); the large motor (7) is fixedly arranged at the middle position of the machine arm (8); the large motor (7) is provided with the pulley (10); the pulley (10) is covered with the belt (9); the large motor (7) drives the four wheels to rotate through the flight controller (5); A large steering gear (15) arranged at the bottom of the fuselage (1) is fixedly connected to the machine arm (8) via the steering gear rocker (16), the connecting rod (17) and the connecting rod II (18); The small steering gear (20) is fixedly arranged at the bottom of the machine arm (8), and the small steering gear (20) swings the variable diameter wheel rotating disk (22) and the variable diameter wheel shaft sleeve (23) provided on the variable diameter wheel (24) through the small steering gear rotating disk (21), so that the variable diameter wheel upper rotating shaft (25), the variable diameter wheel lower rotating shaft (26) and the scissor-fork type variable diameter wheel swing rod (27) on the main body of the variable diameter wheel (24) rotate as a whole; The large steering gear (15) drives the aircraft arm (8) to rotate and fold via the flight controller (5), thereby enabling the aircraft to fold or grab in the air.

2. A modified land-air amphibious robot according to claim 1, characterized in that: During the rotation process, the scissor-fork-shaped variable diameter wheel swing rod (27) will stretch out, so that the scissor-fork-shaped variable diameter wheel swing rod (27) and the three connected large variable diameter wheels (24) can achieve diameter change.

3. The modified land-air amphibious robot according to claim 1, characterized in that: The fuselage (1) is formed into a cuboid by four large side panels.

4. The modified land-air amphibious robot according to claim 1, characterized in that: The machine arm (8) is a two-layer carbon fiber plate, and the two-layer carbon fiber plate is supported by a plurality of pillars (14).

5. The modified land-air amphibious robot according to claim 1, characterized in that: The robot also has a camera (2) and a GPS (3); the camera (2) and the GPS (3) are arranged at the upper end of the body (1).

6. The modified land-air amphibious robot according to claim 1, characterized in that: The robot is also provided with four wheels; and pulleys (10) are also provided on the wheels.

7. The modified land-air amphibious robot according to claim 1, characterized in that: During the rotation process, the robot controls the large steering gear (15) at the bottom of the arm (8) through the flight controller (5) to complete the folding and unfolding of the robot's arm (8), drives the propeller (12) through the small motor (11) at the upper end of the arm (8) to complete the flight, and completes the wheel diameter change of the variable diameter wheel (24) through the small steering gear (20) at the bottom of the arm (8).

8. The modified land-air amphibious robot according to claim 1, characterized in that: In the flight state and the land walking state of the aircraft with the variable diameter wheels closed, the arm (8) rotates and folds during the flight of the robot, and the flight controller (5) controls the large steering gear (15) at the bottom of the fuselage (1) to drive the arm (8) to swing, thereby realizing the grasping function.

9. The modified land-air amphibious robot according to claim 1, characterized in that: When the aircraft is moving on land, the flight controller (5) controls the large motor (7) on the aircraft arm (8) to drive the wheels to rotate through the belt (9) and the pulley (10) so that the aircraft moves on the ground.

Images